I had the same problem and didnt find a good solution, so i wrote an app for importing contacts from a google csv, havent tested it with other csv-files.
Works good for me.
If you have contacts on your phone already you should back them up using PIMBackup or som other app before using this app.
There might be errors in the csv-file and if there are the contacts will be created with errors like phonenumber in the name-field and so on.
How to use it, your three step guide to a better life:
1. click on "Choose file" and select the file you want to import
2. click the "Read contacts" and it will load all rows into memory and display how many rows it found
3. click "Import contacts" and it will create a contact for each row it found
if something went wrong and the contacts look wierd or something, just clik on the "Clear contacts" button, click yes when asked if you want to delete all contacts, and it will remove all contacts. Note that it deletes ALL contacts, not just the ones it just created, so if you had contact before importing these you should have made a backup like i told you to do, because now you haveto delete every contact manually.
ofcourse you use this app at your own risk, i dont take any responsabilities to what might happend to your phone, not that i think something will.
Its just reading a file and creating/deleting contacts.
Hope it helps someone...